基于自然环境辨识的移动机器人位姿快速检测

Fast Detection of Mobile Robot Pose Based on the Nature Environment Recognition

为了对室外移动机器人进行快速准确的位姿检测,基于Poineer3平台,运用单目对室外环境进行图像采集,对图像采用基于图像特征和神经网络的方法进行了环境的理解,进而以地面为研究对象,运用Horn-Schunck光流法获得局部地面光流。进而由图像坐标系和机器人坐标系的变化关系以及运动速度和光流速度的关系,把光流速度转化为机器人的运动速度,从而实现了机器人的位姿检测。实验结果表明,该方法可行且易操作,检测速度快。

In order to detect the pose of outdoor mobile robot fast and exactly, and based on Poineer3 platform, we have carried on the outdoor video image acquisition. With the method of local fractal dimension and neutral network, we achieve the recognition of the ground. Then to the ground as the research object, Hom-Schunck optical flow method is used to calculate optical flow of the ground. And then by the relation between the image coordinate system and the robot coordinate system, the distance is measured between the research object and the robot. According to the relationship of velocity of movement and optical flow velocity, the optical flow velocity is converted to the speed of robot, so as to realize the position detection of the robot. The experimental result shows that the method is feasible and easy to operate with fast inspection speed.